Crane obstacle-avoidance system based on stereoscopic vision

A technology of stereo vision and binocular stereo vision, applied in photogrammetry/video metrology, image data processing, measuring devices, etc., can solve problems such as unreachable control of the crane system, high risk, and prone to collisions

Active Publication Date: 2011-09-07
NANKAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems that the control of the existing crane system does not meet the real-time requirements, it is easy to collide, and the danger is high, and to provide a crane obstacle avoidance system based on stereo vision

Method used

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  • Crane obstacle-avoidance system based on stereoscopic vision
  • Crane obstacle-avoidance system based on stereoscopic vision
  • Crane obstacle-avoidance system based on stereoscopic vision

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Embodiment 1

[0089] The hardware structure of the system involved in the present invention is as figure 1 shown. in cranes (such as figure 2 ) in the working space, through the camera fixing bracket 1 (such as image 3 ) Fix the left and right cameras on the crane, and adjust the camera angle to make the observation range as large as possible. According to the synchronous signal, the left and right cameras shoot the working scene of the crane at the same time, and the images are connected to the host computer through the image acquisition card and the 1394 bus. The host performs stereo vision system calibration, image processing, reconstruction of static obstacles in the crane working space, detection and tracking of dynamic obstacles, tracking of loads, estimation of speed information, position information and size information of moving objects, generation of collision models, and collision prediction. When a collision is detected, a trigger signal is sent through the device USB4711A...

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Abstract

The invention discloses a crane obstacle-avoidance system based on stereoscopic vision. The crane obstacle-avoidance system works according to the following steps of: calibrating a binocular stereoscopic vision system to obtain inner parameters of a left camera and a right camera and external parameters between the left camera and the right camera; photographing images of a crane work scene by the stereoscopic vision system, and recreating static obstacles in a crane work space; tracking a load in real time in a load conveying process, simultaneously detecting moving objects (such as human, vehicles or other obstacles and the like) suddenly entering into the crane work space, and evaluating movement information, position information and size information of the load and the moving objects; and predicting whether the load collides with the obstacles (the static obstacles and the moving objects) according to a collision prediction strategy so as to determine whether to apply emergency braking to avoid the load from colliding with the obstacles.

Description

technical field [0001] The invention belongs to the technical field of automatic control of nonlinear underactuated systems, in particular to a crane obstacle avoidance system based on stereo vision. Background technique [0002] During the operation of the crane system, if the monitoring personnel find a (potential) collision hazard, the emergency brake of the crane is realized through the emergency brake button. However, this emergency braking strategy depends on the timing of the judgment of the monitoring personnel. The real-time performance cannot be achieved, and collisions are very easy to occur, which is highly dangerous and greatly reduces the efficiency of the crane system. [0003] With the continuous development of computer vision technology, visual sensors have been more and more widely used in various electromechanical systems. The binocular vision sensor is widely used in the monitoring and measurement of the environment in the field of view due to its simple...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00G06T7/00
Inventor 方勇纯苑英海王鹏程刘笑含孙宁
Owner NANKAI UNIV
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